Methods and systems for tracking a torsional orientation and position of an eye

ABSTRACT

Methods and systems for tracking a position and torsional orientation of a patient&#39;s eye. In one embodiment, the present invention provides methods and software for registering a first image of an eye with a second image of an eye. In another embodiment, the present invention provides methods and software for tracking a torsional movement of the eye. In a particular usage, the present invention tracks the torsional cyclorotation and translational movement of a patient&#39;s eye so as to improve the delivery of a laser energy to the patient&#39;s cornea.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a divisional of U.S. patent application Ser.No. 10/300,714 filed on Nov. 19, 2002 now U.S. Pat. No. 7,044,602, whichclaims benefit under 35 USC 119(e) of U.S. Provisional PatentApplication No. 60/384,653 filed on May 30, 2002, the completedisclosures of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION

The present invention relates generally to laser eye surgery methods andsystems. More specifically, the present invention relates to registeringa first image of a patient's eye with a second image of a patients eyeand to tracking a position and a torsional orientation of the patient'seye during laser eye surgery so as to register a customized ablationprofile with the patient's eye.

Known laser eye procedures generally employ an ultraviolet or infraredlaser to remove a microscopic layer of stromal tissue from the cornea ofthe eye to alter the refractive characteristics of the eye. The laserremoves a selected shape of the corneal tissue, often to correctrefractive errors of the eye. Ultraviolet laser ablation results inphoto-decomposition of the corneal tissue, but generally does not causesignificant thermal damage to adjacent and underlying tissues of theeye. The irradiated molecules are broken into smaller volatile fragmentsphotochemically, directly breaking the intermolecular bonds.

Laser ablation procedures can remove the targeted stroma of the corneato change the cornea's contour for varying purposes, such as forcorrecting myopia, hyperopia, astigmatism, and the like. Control overthe distribution of ablation energy across the cornea may be provided bya variety of systems and methods, including the use of ablatable masks,fixed and moveable apertures, controlled scanning systems, eye movementtracking mechanisms, and the like. In known systems, the laser beamoften comprises a series of discrete pulses of laser light energy, withthe total shape and amount of tissue removed being determined by theshape, size, location, and/or number of a pattern of laser energy pulsesimpinging on the cornea. A variety of algorithms may be used tocalculate the pattern of laser pulses used to reshape the cornea so asto correct a refractive error of the eye. Known systems make use of avariety of forms of lasers and/or laser energy to effect the correction,including infrared lasers, ultraviolet lasers, femtosecond lasers,wavelength multiplied solid-state lasers, and the like. Alternativevision correction techniques make use of radial incisions in the cornea,intraocular lenses, removable corneal support structures, thermalshaping, and the like.

Known corneal correction treatment methods have generally beensuccessful in correcting standard vision errors, such as myopia,hyperopia, astigmatism, and the like. However, as with all successes,still further improvements would be desirable. Toward that end,wavefront measurement systems are now available to measure therefractive characteristics of a particular patient's eye. By customizingan ablation pattern based on wavefront measurements, it may be possibleto correct minor refractive errors so as to reliably and repeatablyprovide visual accuities greater than 20/20. Alternatively, it may bedesirable to correct aberrations of the eye that reduce visual acuity toless than 20/20. Unfortunately, these measurement systems are not immunefrom measurement error. Similarly, the calculation of the ablationprofile, the transfer of information from the measurement system to theablation system, and the operation of the ablation system all provideopportunities for the introduction of errors, so that the actual visualaccuities provided by real-world wavefront-based correction systems maynot be as good as might be theoretically possible.

One potential problem with the use of wavefront measurements is aligningthe customized laser ablation pattern with the patient's eye. In orderto achieve precise registration between the wavefront measurement andthe treatment to be delivered to the patient's eye, the wavefrontmeasurement and the eye should share a common coordinate system. Forexample, when the wavefront measurement is taken, the patient willgenerally be in a seated position. However, when the laser eye surgeryis being performed, the patient will generally be in a supine position,which may not position the patient's eye in the same position ortorsional orientation as the eye when the wavefront measurement wastaken.

Moreover, even if the patient is positioned in the same initial positionand/or torsional orientation, the eye often undergoes a cyclotorsionalrotation. If this rotation is not properly accounted for, the benefitsof the refractive surgery would be reduced, particularly in cases ofastigmatism and other non-rotationally symmetric aberrations. It hasbeen reported by numerous investigators and researchers that human eyesmay undergo torsional movements, usually within 15 degrees from theresting position, but typically it is around 2 to 7 degrees around theiraxes, during normal activities. The amount of rotation depends on theindividual, the stimulus being viewed, and it may depend on the motionand orientation of the person's head and body. Such torsional movementof the patient's eye during the ablation may cause a non-optimaldelivery of the customized ablation pattern to the patient's eye,particularly in cases of astigmatism and other-non-rotationallysymmetric aberrations.

In light of the above, it would be desirable to provide methods anddevices which can accurately register the patient's eye with thecustomized ablation pattern. Additionally, it would be desirable toaccount for the positional movement and torsional rotation of thepatient's eyes during a laser surgery procedure.

BRIEF SUMMARY OF THE INVENTION

The present invention provides methods and systems which can improvelaser eye surgery.

In one aspect, the methods and software of the present invention canregister a first image of the patient's eye with a second image of thepatient's eye. In some embodiments, the methods can determine atorsional offset θ₀ between the eye in the first image and the eye inthe second image.

In one embodiment, a method comprises selecting at least one marker onthe iris of the eye in the first image. A corresponding marker islocated on the iris in the second image. The first image of the eye andthe second image of the eye are registered by substantially matching acommon reference point in the first and second images and matching themarker on the iris of the image of the first eye and the marker on theiris of the image of the second eye. Thereafter, a laser treatment canbe centered and torsionally aligned with the second image of the eye. Insome embodiments, the second image of the eye can be obtained while thepatient's eye is aligned with a laser beam that is to deliver the lasertreatment.

In some embodiments of the present invention, the common reference pointis a pupil center. In other embodiments, the common reference point canbe determined through a function of a pupil center and an iris center.

In another embodiment, the first image of the eye is obtained during themeasurement of a wavefront (which reflects the lower and higher orderoptical aberrations in the optical system of the patient's eye) and thesecond image of the eye is obtained when the patient is positioned inthe optical axis of the therapeutic laser. In order to align a lasertreatment that is derived from the measured wavefront, the patient's eyein the first image can be registered with the patient's eye when it ispositioned in an optical axis of the therapeutic laser so that the lasertreatment is delivered in a torsionally correct orientation.

In another aspect, the present invention can track the torsionalmovement of the eye over time θ(t). Tracking of the torsionalorientation of the patient's eye allows a computer processor to adjust adelivery of the customized ablation treatment to account for the changesin the position and orientation of the patient's eye.

In one particular configuration, the present invention provides fortorsional tracking of the eye. A tracking algorithm can establish theexact amount of rotation of the eye with respect to the wavefront imagetaken during the wavefront measurement. This torsional rotation of theeye can be compensated for by making corresponding adjustment of thelaser beam delivery.

In one embodiment of a method of the present invention, a referencepoint (such as a pupil center) is located in a first image of the eye.At least one marker is identified in the first image of the eye. Thereference point is also located in a second image of the eye. Acorresponding marker is identified in the second image of the eye. Acyclotorsional rotation of the eye is estimated between the first imageand second image by comparing the orientation of the at least onemarkers relative to the pupil center in the first image and the secondimage.

In another aspect, the present invention provides a method of performinglaser eye surgery. The method comprises measuring a wavefrontmeasurement of the patient's eye. An image of the patient's eye isobtained during the measuring of the wavefront measurement. A lasertreatment of the patient's eye is generated based on the wavefrontmeasurement. The position of the patient's eye is registered with theimage of the patient's eye obtained during the measuring of thewavefront measurement so that the customized laser treatment canaccurately delivered to the patient's eye. The laser treatment isdelivered to the patient's eye while the torsional orientation of thepatient's eye is monitored. The delivery of the laser treatment isadjusted based on the monitored torsional orientation of the patient'seye.

In another aspect, the present invention provide a laser surgery system.In one embodiment, the laser surgery system provides a computerprocessor configured to receive a first image of an eye and at least oneof a wavefront measurement and an ablation pattern for the eye. An eyetracker can be coupled to the computer processor to track a position ofthe eye under an optical axis of a laser beam. A torsional tracker iscoupled to the computer processor to track a torsional orientation ofthe eye. The computer processor can be configured to adjust a deliveryof the ablation pattern based on a change of position and/or torsionalorientation of the eye.

In another embodiment, the present invention provides a laser surgerysystem comprising a system for registering a first image of an eye witha second image of an eye. The system includes a computer processor thatis configured to receive a first image of an eye. An imaging device canbe coupled to the computer processor. The imaging device can obtain asecond image of the eye. The computer processor can be configured tolocate a reference point, such as a pupil center, in the first andsecond image of the eye and locate at least one marker in the firstimage and find a corresponding marker in the second image. The computerprocessor can register the first and second image by substantiallymatching the reference points (e.g., pupil centers) and markers of thefirst and second image.

For a further understanding of the nature and advantages of theinvention, reference should be made to the following description takenin conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically illustrates a simplified system of the presentinvention;

FIG. 2 schematically illustrates one laser surgery system of the presentinvention;

FIG. 3 illustrates one exemplary wavefront measurement device of thepresent invention;

FIG. 3A illustrates an alternative wavefront measurement device of thepresent invention;

FIG. 4 schematically illustrates an exemplary system of the presentinvention;

FIG. 5 schematically illustrates a method of the registering a firstimage with a second image;

FIG. 6A illustrates a reference image of an eye;

FIG. 6B illustrates a rotated image that corresponds to the referenceimage of FIG. 6A;

FIGS. 6C and 6D illustrate a center of a pupil and center of an iris;

FIG. 6E illustrate an inner and outer radii of a range of the irisradii;

FIG. 7A illustrates an unwrapped iris that is segmented into 24 sectors,with each sector having a numbered marker;

FIG. 7B illustrates a corresponding unwrapped iris in which the markersare torsionally rotated from their original positions;

FIG. 7C illustrates two iris images and texture blocks when the irisring is not unwrapped;

FIG. 7D illustrates two iris images and texture blocks when the irisring is unwrapped;

FIG. 8A illustrates an unwrapped iris;

FIG. 8B illustrates an unwrapped iris with LED reflections;

FIG. 9 is a graph that illustrates an angular rotation of the 24markers;

FIG. 10 is a simplified method of tracking a torsional rotation of apatient's eye;

FIG. 11 is a frame image of a patient's eye and two markers on the iristhat are used for tracking a torsional rotation of the patient's eye;

FIG. 12 illustrates six reference blocks/markers of the patient's iristhat are used to track the torsional rotation of the patient's eye;

FIG. 13 illustrates the relative positions of the reference markersrelative to the center of the patient's pupil;

FIG. 14 illustrates torsional angle estimates for an eye having adark-colored iris;

FIG. 15 illustrates torsional angle estimates for an eye having a lightcolored iris;

FIGS. 16A and 16B are charts summarizing results for a data setprocessed by one alignment algorithm of the present invention;

FIG. 17A is an image of an eye that has too much shadow to discernmarkers;

FIG. 17B is a chart illustrating an eye having an RMS that is above 1;

FIG. 18A is an original frame image of an eye;

FIG. 18B is a final frame in which the image of the eye is rotated;

FIG. 19A is a reference frame;

FIG. 19B is a zeroth frame having two pixel blocks marked for tracking;

FIG. 20 is a chart of a pupil position over time;

FIG. 21 is a chart of the pupil radius from frame 0 to frame 500;

FIG. 22 is a chart that illustrates errors per frame/block;

FIG. 23 is a chart that illustrates a measured torsional angle of theeye;

FIG. 24 depicts the tracking results for a 30-frame sequence startingwith the 345^(th) frame;

FIG. 25 is a chart that shows the torsional data extracted from theslower acquired sequence;

FIGS. 26A and 26B show alignment results using a sine-method between thewavefront measurement position of the iris and the first image of thevideo sequence;

FIGS. 27A and 27B show measurements of the torsional eye movements withrespect to the reference image;

FIG. 28 shows a difference between two torsional angle estimates;

FIG. 29A illustrates two torsion estimates; and

FIG. 29B illustrates the error between the two estimates of FIG. 29A.

DETAILED DESCRIPTION OF THE INVENTION

The present invention is particularly useful for enhancing the accuracyand efficacy of laser eye surgical procedures such as photorefractivekeratectomy (PRK), phototherapeutic keratectomy (PTK), laser in situkeratomileusis (LASIK), and the like. The efficacy of the laser eyesurgical procedures can be enhanced by tracking the torsionalorientation of the patient's eye so that a laser ablation pattern ismore accurately aligned with the real-time orientation of the patient'seye.

While the system and methods of the present invention are describedprimarily in the context of improving a laser eye surgery system, itshould be understood the techniques of the present invention may beadapted for use in alternative eye treatment procedures and systems suchas femtosecond lasers and laser treatment, infrared lasers and lasertreatments, radial keratotomy (RK), scleral bands, follow up diagnosticprocedures, and the like.

FIG. 1 schematically illustrates a simplified system of one embodimentof the present invention. The illustrated system of the presentinvention can include a laser system 15 coupled to a wavefrontmeasurement device 10 that measures aberrations and other opticalcharacteristics of an entire optical tissue system. The data from such awavefront measurement device may be used to generate an optical surfacefrom an array of optical gradients. It should be understood that theoptical surface need not precisely match an actual tissue surface, asthe gradients will show the effects of aberrations which are actuallylocated throughout the ocular tissue system. Nonetheless, correctionsimposed on an optical tissue surface so as to correct the aberrationsderived from the gradients should correct the optical tissue system. Asused herein terms such as “an optical tissue surface” may encompass atheoretical tissue surface (derived, for example, from wavefront sensordata), an actual tissue surface, and/or a tissue surface formed forpurposes of treatment (for example, by incising corneal tissues so as toallow a flap of the corneal epithelium to be displaced and expose theunderlying stroma during a LASIK procedure).

Referring now to FIGS. 1 and 2, one embodiment of laser eye surgerysystem 15 of the present invention is illustrated. Laser eye surgerysystem 15 includes a laser 12 that produces a laser beam 14. Laser 12 isoptically coupled to laser delivery optics 16, which directs laser beam14 to an eye of patient P. A delivery optics support structure (notshown here for clarity) extends from a frame 18 supporting laser 12. Amicroscope 20 is mounted on the delivery optics support structure, themicroscope often being used to image a cornea of eye E.

Laser 12 generally comprises an excimer laser, typically comprising anargon-fluorine laser producing pulses of laser light having a wavelengthof approximately 193 nm. Laser 12 will preferably be designed to providea feedback stabilized fluence at the patient's eye, delivered viadelivery optics 16. The present invention may also be useful withalternative sources of ultraviolet or infrared radiation, particularlythose adapted to controllably ablate the corneal tissue without causingsignificant damage to adjacent and/or underlying tissues of the eye.Such sources include, but are not limited to, solid state lasers andother devices which can generate energy in the ultraviolet wavelengthbetween about 185 and 205 nm and/or those which utilizefrequency-multiplying techniques. Hence, although an excimer laser isthe illustrative source of an ablating beam, other lasers may be used inthe present invention.

Laser 12 and delivery optics 16 will generally direct laser beam 14 tothe eye of patient P under the direction of a computer processor 22.Processor 22 will generally selectively adjust laser beam 14 to exposeportions of the cornea to the pulses of laser energy so as to effect apredetermined sculpting of the cornea and alter the refractivecharacteristics of the eye. In many embodiments, both laser 14 and thelaser delivery optical system 16 will be under computer control ofprocessor 22 to effect the desired laser sculpting process so as todeliver the customized ablation profile, with the processor ideallyaltering the ablation procedure in response to inputs from the opticalfeedback system. The feedback will preferably be input into processor 22from an automated image analysis system, or may be manually input intothe processor by a system operator using an input device in response toa visual inspection of analysis images provided by the optical feedbacksystem. Processor 22 will often continue and/or terminate a sculptingtreatment in response to the feedback, and may optionally also modifythe planned sculpting based at least in part on the feedback.

Laser beam 14 may be adjusted to produce the desired sculpting using avariety of alternative mechanisms. The laser beam 14 may be selectivelylimited using one or more variable apertures. An exemplary variableaperture system having a variable iris and a variable width slit isdescribed in U.S. Pat. No. 5,713,892, the full disclosure of which isincorporated herein by reference. The laser beam may also be tailored byvarying the size and offset of the laser spot from an axis of the eye,as described in U.S. Pat. No. 5,683,379, and as also described inco-pending U.S. patent application Ser. No. 08/968,380, filed Nov. 12,1997; and Ser. No. 09/274,999 filed Mar. 22, 1999, the full disclosuresof which are incorporated herein by reference.

Still further alternatives are possible, including scanning of the laserbeam over the surface of the eye and controlling the number of pulsesand/or dwell time at each location, as described, for example, by U.S.Pat. No. 4,665,913 (the full disclosure of which is incorporated hereinby reference) and as demonstrated by other scanning laser systems suchas the LSX laser by LaserSight, LadarVision by Alcon/Autonomous, and the217C by Technolas; using masks in the optical path of laser beam 14which ablate to vary the profile of the beam incident on the cornea, asdescribed in U.S. patent application Ser. No. 08/468,898, filed Jun. 6,1995 (the full disclosure of which is incorporated herein by reference);hybrid profile-scanning systems in which a variable size beam (typicallycontrolled by a variable width slit and/or variable diameter irisdiaphragm) is scanned across the cornea; or the like. The computerprograms and control methodology for these laser pattern tailoringtechniques are well described in the patent literature.

Additional components and subsystems may be included with laser system15, as should be understood by those of skill in the art. For example,spatial and/or temporal integrators may be included to control thedistribution of energy within the laser beam, as described in U.S. Pat.No. 5,646,791, the disclosure of which is incorporated herein byreference. An ablation effluent evacuator/filter, and other ancillarycomponents of the laser surgery system which are not necessary to anunderstanding of the invention, need not be described in detail for anunderstanding of the present invention.

As mentioned above, laser system 15 will generally include a computersystem or programmable processor 22. Processor 22 may comprise (orinterface with) a conventional PC system including the standard userinterface devices such as a keyboard, a display monitor, and the like.Processor 22 will typically include an input device such as a magneticor optical disk drive, a CD drive, an internet connection, or the like.Such input devices will often be used to download a computer executablecode from a computer network or a tangible storage media 29 embodyingsteps or programming instructions for any of the methods of the presentinvention. Tangible storage media 29 includes, but is not limited to aCD-R, a CD-RW, DVD, a floppy disk, an optical disk, a data tape, anon-volatile memory, or the like, and the processor 22 will include thememory boards and other standard components of modem computer systemsfor storing and executing this code.

Wavefront measurement device 10 typically includes a wavefrontmeasurement assembly 11 and an imaging assembly 13. Wavefrontmeasurement assembly 11 can be used to measure and obtain a wavefrontelevation surface of at least one of the patient's eyes and imagingassembly 13 can obtain still or moving images of the patient's eyeduring the wavefront measurement.

In exemplary embodiments, imaging assembly 13 is a CCD camera that canobtain a still image of the patient's eye. The image(s) obtained byimaging assembly 13 can thereafter be used to register the wavefrontmeasurement and/or a customized ablation pattern (based on the wavefrontmeasurement) with the patient's eye during the laser surgical procedure.

The wavefront measurement assembly 11 and imaging assembly 13 can becoupled to or integral with a computer system 17 that can generate andstore the wavefront measurements and images of the patient's eye.Thereafter, the patient's wavefront data can be stored on a computerreadable medium, such as a CD-R, CD-RW, DVD-R, floppy disk, opticaldisk, a hard drive, or other computer readable medium. Optionally, insome embodiments, the computer system of the wavefront measurementdevice can generate and save an ablation profile based on the wavefrontdata.

The wavefront data and/or the customized ablation profile can be loadedinto a laser surgical system 15 through reading of the computer readablemedium or through delivery into a memory of surgical system 15 over alocal or wide-area network (LAN or WAN). Laser eye surgery system 15 caninclude a computer controller system 22 that is in communication with animaging assembly 20 and a laser assembly 12. Computer system 22 can havesoftware stored in a memory and hardware that can be used to control thedelivery of the ablative energy to the patient's eye, the tracking ofthe position (translations in the x, y, and z directions and torsionalrotations) of the patient's eye relative to an optical axis of laserbeam 14, and the like. In exemplary embodiments, among other functions,computer system 22 can be programmed to calculate a customized ablationprofile based on the wavefront data, register the image(s) taken withimaging assembly 11 with the image(s) taken by imaging assembly 20, andmeasure the torsional offset, θ₀, between the patient's eye in the twoimages. Additionally, computer system 22 can be programmed to measure,in real-time, the movement (x(t), y(t), z(t), and rotational orientationθ(t)) of the patient's eye relative to the optical axis of the laserbeam so as to allow the computer system to modify the delivery of thecustomized ablation profile based on the real-time position of thepatient's eye.

Referring now to FIG. 3, one embodiment of a wavefront measurementdevice 10 of the present invention is schematically illustrated. As canbe appreciated, the illustrated wavefront measurement device 10 ismerely an example of one wavefront measurement device that can be usedwith the embodiments of the present invention and other conventional orproprietary wavefront measurement devices can be used.

In very general terms, wavefront measurement device 10 includes animaging assembly 13 that can image the patient's eye E during thewavefront measurement. Wavefront measurement assembly 13 includes animage source 32 which projects a source image through optical tissues 34of eye E and so as to form an image 44 upon a surface of retina R. Theimage from retina R is transmitted by the optical system of the eye(specifically, optical tissues 34) and imaged onto a wavefront sensor 36by system optics 38. The imaging assembly 11 can be in communicationwith a computer system 22 to deliver the image(s) of the patient's eyeto a memory in the computer. Wavefront sensor 36 can also communicatesignals to computer 17 for determination of a corneal ablation treatmentprogram. Computer 17 may be the same computer which is used to directoperation of the laser surgery system 15, or at least some or all of thecomputer components of the wavefront measurement device 10 and lasersurgery system may be separate. Data from wavefront sensor 36 may betransmitted to laser system computer 22 via tangible media 29, via anI/O port, via an networking connection such as an intranet, theInternet, or the like.

Wavefront sensor 36 generally comprises a lenslet array 38 and an imagesensor 40. As the image from retina R is transmitted through opticaltissues 34 and imaged onto a surface of lenslet array 38, the lensletarray separates the transmitted image into an array of beamlets 42, and(in combination with other optical components of the system) images theseparated beamlets on the surface of sensor 40. Sensor 40 typicallycomprises a charged couple device or CCD, and senses the characteristicsof these individual beamlets, which can be used to determine thecharacteristics of an associated region of optical tissues 34. Inparticular, where image 44 comprises a point or small spot of light, alocation of the transmitted spot as imaged by a beamlet can directlyindicate a local gradient of the associated region of optical tissue.

Eye E generally defines an anterior orientation ANT and a posteriororientation POS. Image source 32 generally projects an image in aposterior orientation through optical tissues 34 onto retina R. Opticaltissues 34 again transmit image 44 from the retina anteriorly towardwavefront sensor 36. Image 44 actually formed on retina R may bedistorted by any imperfections in the eye's optical system when theimage source is originally transmitted by optical tissues 34.Optionally, image source projection optics 46 may be configured oradapted to decrease any distortion of image 44.

In some embodiments, image source optics may decrease lower orderoptical errors by compensating for spherical and/or cylindrical errorsof optical tissues 34. Higher order optical errors of the opticaltissues may also be compensated through the use of an adaptive opticelement, such as a deformable mirror. Use of an image source 32 selectedto define a point or small spot at image 44 upon retina R may facilitatethe analysis of the data provided by wavefront sensor 36. Distortion ofimage 44 may be limited by transmitting a source image through a centralregion 48 of optical tissues 34 which is smaller than a pupil 50, as thecentral portion of the pupil may be less prone to optical errors thanthe peripheral portion. Regardless of the particular image sourcestructure, it will be generally be beneficial to have well-defined andaccurately formed image 44 on retina R.

While the method of the present invention will generally be describedwith reference to sensing of an image 44 on the retina, it should beunderstood that a series of wavefront sensor data readings may be taken.For example, a time series of wavefront data readings may help toprovide a more accurate overall determination of the ocular tissueaberrations. As the ocular tissues can vary in shape over a brief periodof time, a plurality of temporally separated wavefront sensormeasurements can avoid relying on a single snapshot of the opticalcharacteristics as the basis for a refractive correcting procedure.Still further alternatives are also available, including takingwavefront sensor data of the eye with the eye in differingconfigurations, positions, and/or orientations. For example, a patientwill often help maintain alignment of the eye with wavefront device 13by focusing on a fixation target, as described in U.S. Pat. No.6,004,313, the full disclosure of which is incorporated herein byreference. By varying a focal position of the fixation target asdescribed in that reference, optical characteristics of the eye may bedetermined while the eye accommodate or adapts to image a field of viewat a varying distance. Further alternatives include rotating of the eyeby providing alternative and/or moving fixation targets within wavefrontdevice 11.

The location of the optical axis of the eye may be verified by referenceto the data provided from an imaging assembly or pupil camera 13 thatimages the eye concurrently during the wavefront measurements. In theexemplary embodiment, a pupil camera 13 images pupil 50 and/or the irisso as to allow subsequent determination of a position and torsionalorientation of the pupil and/or iris for registration of the wavefrontsensor data relative to the optical tissues, as will also be describedhereinbelow.

An alternative embodiment of a wavefront sensor system is illustrated inFIG. 3A. The major components of the system of FIG. 3A are similar tothose of FIG. 3. Additionally, FIG. 3A includes an adaptive opticalelement 52 in the form of a deformable mirror. The source image isreflected from deformable mirror 52 during transmission to retina R, andthe deformable mirror is also along the optical path used to form thetransmitted image between retina R and imaging sensor 40. Deformablemirror 52 can be controllably deformed to limit distortion of the imageformed on the retina, and may enhance the accuracy of the wavefrontdata. The structure and use of the system of FIG. 3A are more fullydescribed in U.S. Pat. No. 6,095,651, the full disclosure of which hisincorporated herein by reference.

The components of one embodiment of a wavefront system for measuring theeye and ablations comprise elements of a VISX WaveScan™, available fromVISX, Inc. of Santa Clara, Calif. A preferred embodiment includes aWaveScan with a deformable mirror as described above. An alternateembodiment of a wavefront measuring device is described in U.S. Pat. No.6,271,915, the full disclosure of which is incorporated herein byreference.

A treatment program map may be calculated from the wavefront elevationmap so as to remove the regular (spherical and/or cylindrical) andirregular errors of the optical tissues. By combining the treatmentprogram with a laser ablation pulse characteristics of a particularlaser system, a table of ablation pulse locations, sizes, shapes, and/ornumbers can be developed. An exemplary method and system for preparingsuch an ablation table is described in co-pending U.S. patentapplication Ser. No. 09/805,737 filed on Mar. 13, 2001 and entitled“Generating Scanning Spot Locations for Laser Eye Surgery,” the fulldisclosure of which is incorporated herein by reference. Ablation tablemay optionally be optimized by sorting of the individual pulses so as toavoid localized heating, minimize irregular ablations if the treatmentprogram is interrupted, and the like.

Based on the wavefront measurements of the eye, a corneal ablationpattern may be calculated by processor 17 or 22 (or by another separateprocessor) for ablating the eye with laser ablation system 15 so as tocorrect the optical errors of the eye. Such calculations will often bebased on both the measured optical properties of the eye and on thecharacteristics of the corneal tissue targeted for ablation (such as theablation rate, the refractive index, the propensity of the tissue toform “central islands” or decreased central ablation depths within auniform energy beam, and the like). The results of the calculation willoften comprise an ablation pattern in the form of an ablation tablelisting ablation locations, numbers of pulses, ablation sizes, and orablation shapes to effect the desired refractive correction. Anexemplary method for generating ablation patterns is described inco-pending U.S. patent application Ser. No. 09/805,737, the fulldisclosure of which was previously incorporated herein by reference.Where the refractive error is to be corrected by alternative treatmentmodalities, alternative treatment plans may be prepared, such as cornealring implant sizes, or the like.

Referring now to FIG. 4, an information flow of one embodiment of amethod of the present invention will be described. Wavefront measurementassembly 13 can use wavefront sensors 36, such as Hartmann-Shacksensors, for obtaining a wavefront elevation surface 54 of the patient'seye. Wavefront elevation surface 54 can be run through a treatmentalgorithm 58 to generate a treatment table or ablation profile 60 thatis customized to correspond to the patient's wavefront elevation surface54. As noted above, ablation profile 60 can be calculated by a processorof wavefront device 10, laser system 15, or by a separate processor andstored in a memory of computer 17, 22.

During the calculation of the wavefront elevation surface, imagingassembly 11 can concurrently obtain an image 56 of the patient's eye,e.g., pupil and iris. The image of the patient's eye 56 can be analyzedby an algorithm 62 that locates the center of the pupil and/or iris,calculates the radius of the pupil and/or iris, and locates markers 64in the patient's iris for subsequent registration and tracking.

In order to register the ablation profile 60 and the patient's eyeduring the laser treatment, the ablation pattern and the patient's eyeshould share a common coordinate system. Thus, ablation profile 60should be positionally and torsionally aligned with the patient's eyewhen the patient's eye is positioned in the path of the laser beam.Additionally, the translational and torsional orientation of thepatient's eye should be tracked during the surgical procedure to ensurean accurate delivery of the ablation profile.

To torsionally align (i.e., register) the ablation profile 60 with thepatient's eye E, the reference or iris image 56 of the eye needs to havea unique coordinate transformation to an image of the eye taken by thepupil camera 20 of the laser system so as to determine the positionaldifferences and torsional offset between the two images of the eye, θ₀.In exemplary embodiments, pupil camera 20 is a video device that canobtain streaming video of the patient's eye. One frame 66 of thestreaming video, typically the first frame of the streaming video, canbe analyzed by the computer processor to locate the pupil center, iriscenter, and/or markers 64 that were originally located in the referenceimage 56. Once the pupil center, iris center, and/or markers 64 arelocated, a torsionally offset, θ₀, between reference image 56 and videoframe image 66 of the patient's eye is calculated.

Once the torsional offset θ₀ is determined, the computer can track thetranslational position (x(t), y(t), and z(t)) of the patient's eye Ewith a high speed eye tracker (HSET) 68 and the torsional orientationθ(t)) of the eye with a torsional tracker 70. Because the position ofthe center of the pupil is tracked with the HSET 68, the torsionaltracker 70 generally has to estimate the position of the markers 64 withrespect to the pupil center.

If the HSET 68 determines that the patient's eye has moved (relative tovideo frame image 66), the computer can correct the delivery of thecustomized ablation pattern by adjusting the patient's customizedtreatment table 60 by adding in the translation and torsionalmeasurements into the table. The treatment table can be adjusted suchthat at time t, if the overall rotation angle of the eye is θ(t), andthe next pulse of the laser is supposed to be delivered at location(x,y) on the cornea, the new location of the delivery of the pulse canbe defined by:

$\begin{pmatrix}x^{\prime} \\y^{\prime}\end{pmatrix} = {\begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} \\{\sin\;\theta} & {\cos\;\theta}\end{bmatrix}\begin{pmatrix}x \\y\end{pmatrix}}$

To track the torsional movement of the patient's eye, torsional tracker70 can use the markers 64 identified above, other high-contrast irispatches, or if the patient's iris contains too little texture, thesurgeon will have an option of drawing artificial landmarks 72 on theeye for tracking. Optionally, in some embodiments it is possible for thealgorithm to decide if artificial markers are required.

The translational position and torsional orientation of the patient'seye can be tracked and analyzed by a computer processor in real-time sothat the x(t), y(t), z(t) and θ(t) information 74 can be used to adjustthe customized treatment table 60 so that laser 12 delivers theappropriate ablation pattern 76 to the patient's eye.

Some exemplary methods of carrying out the present invention will now bedescribed. As described above, a first step of the present inventionentails registering a reference image of the eye taken during thecalculation of the wavefront elevation map with a second image of theeye taken just prior to the delivery of the ablation energy.

FIGS. 5 to 9 illustrate aspects of one embodiment of a method of thepresent invention. FIG. 5 schematically illustrates the data flowthrough an alignment algorithm that can torsionally register a referenceimage with a second image of the eye to determine the torsionaldisplacement between the two images of the eye. An initial step in themethod is to obtain the first, reference image. (Step 80). As shown inFIG. 6A, in one embodiment, the first or reference image is a grayscaleimage of the patient's eye that is taken by a CCD camera in thewavefront measurement device under infrared illumination (λ=940 nm). Inone test configuration, the images were 768×576 pixels and have 256 graylevels. The image contains the pupil and the iris. In some images, partof the iris may be occluded by one or both of the eyelids or cropped bythe camera's field of view.

It should be appreciated however, that the present invention can use avariety of imaging devices to produce different images and can beilluminated under various types of illumination.

In most configurations, the smallest distance between the edge of thepupil and the obstructing elements, such as eyelids, eyelashes, strongshadows or highlights should be sufficiently large to leave a portion ofthe iris completely exposed for the entire 360-degree range. Preferably,the largest possible portion of the iris is in sharp focus so as toexpose its texture.

A pupil finding algorithm can be used to locate the pupil, calculate theradius of the pupil and find the center of the pupil (Step 82). In oneembodiment the pupil is located by thresholding the image by analyzing apixel value histogram and choosing the position of a first “dip” in thehistogram after at least 2000 pixels are below the cutoff threshold. Allpixels below the threshold are labeled with “1” and pixels above thethreshold are labeled with “0”. Pixels labeled with “1” would generallycorrespond to the pupil, eyelashes, and possibly other regions of theimage. It should be appreciated however, that the number of pixelsemployed will be related to the area of the pupil and will vary withapplications of the invention.

The two distinguishing features about the pupil region, compared toother non-pupil regions is its large size and central location. In someembodiments, regions intersecting with a 5-pixel wide inner frame of theimage can be discarded and the largest remaining region can be selectedas the pupil.

If desired, the selected pupil region can be filled to remove any holescreated by reflections, or the like. For example, in one embodiment, theremaining region of the image may also be analyzed for convexity. If theratio of the area of the region to the area of its convex hull was lessthen 0.97, a circle completion procedure can be applied to the convexpoints on the region's boundary. One way of performing such an analysisis through a Matlab function “imfeature(. . . , ‘CovexHull’)”. A radiusand center of the pupil can be estimated by a standard weightedleast-square estimation procedure. If the convexity quotient was above0.97, the radius and centroid can obtained using conventional methods,such as Matlab's “imfeature(. . . , ‘Centroid’, ‘EquivDiameter’)”function.

Optionally, in some embodiments an iris finding algorithm can be used tolocate the iris, calculate the radius of the iris, and/or locate theiris center. Since the images of the eye from both imaging assembly 11and the camera 20 both contain the pupil and iris, in some embodimentsit may be more accurate to register the images by calculating the centerof the pupil and the center of the iris and expressing the position ofthe pupil center with respect to the center of the iris. The center ofthe iris may be described as a center of a circle corresponding to theouter boundary of the iris. The position of the center of the iris canbe used to calculate a pupil offset from the iris center.

If {right arrow over (X_(P) ^(WS))} are the coordinates of the center ofthe pupil in image 56 (FIG. 4). Let {right arrow over (X_(I) ^(WS))} bethe center of the iris in image 56. Let {right arrow over (X_(P)^(LASER))} be the center of the pupil in the laser's camera image 66.Let {right arrow over (X_(I) ^(LASER))} be the center of the iris in thelaser's camera image. Even if the iris or pupil are not circular (e.g.,elliptical) there will still be a center for each of the pupil and iris.Then, the center position {right arrow over (C)} with respect to pupilcenter for the surgery can be defined as:{right arrow over (C)}=−{right arrow over (X_(I) ^(WS))}+{right arrowover (X _(P) ^(WS))}−{right arrow over (X _(P) ^(LASER))}+{right arrowover (X _(I) ^(LASER))}

FIGS. 6C and 6D schematically illustrate simplified images of the eyetaken with image assembly 11 and camera 20, respectively that can beanalyzed to find the pupil center and iris center. Marker 200 marks theiris center in both images, marker 204 corresponds to the pupil centerin image 56 and marker 206 corresponds to the pupil center in the laserimage 66. As illustrated in the images, in laser image 66, the pupil haschanged in size (as shown by the gray outline) and the center of thepupil has moved relative to the center of the iris 200. In someembodiments, during laser surgery, the measured wavefront measurementand corresponding ablation pattern can be centered over center position{right arrow over (C)} that is calculated by the above equation.

Since the boundary of the iris may be soft in terms of contrast and mayalso degraded by shadows and light reflections, there may bedifficulties associated with detecting the outer iris boundary ininfrared images of the eye. One method for detection of both iris andthe pupil in the image I(x,y) is to minimize the following integral overall possible values of iris radius and center:

$\max_{({r,{x\; 0},{y\; 0}})}{{{G_{\sigma}(r)}*\frac{\partial}{\partial r}{\oint_{r,{x\; 0},{y\; 0}}{\frac{I\left( {x,y} \right)}{2{\pi \cdot r}}{\mathbb{d}s}}}}}$

One alternative to the above method takes advantage of the fact that thepupil center has already been found (as described above), that the irishas a limited range of possible values and the iris center is usuallynot very far from the pupil center. As shown in FIG. 6E, since thecenter of the pupil and the center of the iris are not far from eachother, it is possible to estimate the radial derivative of the imageintensity with respect to the iris center by the radial derivative withrespect to the pupil center. Furthermore, the limited range of irisradius values occurring in nature, allows restriction of a range ofpossible search to a ring centered at pupil center and having inner andouter radii such that the iris edge should always be located somewherewithin the range. In one embodiment, the numerical search range, can bebetween approximately 10.5 mm and 14 mm. In other embodiments, the rangemay be larger or smaller, if desired. See Bums et al., IOVS, July 2002.

For example, as illustrated in FIG. 6E, circles 208, 210 illustrate apotential range for the iris radius. The values of the radial derivativethat exceed certain threshold can be passed to the weighted least squareestimator for the best circle fit through the set of points, as isdescribed herein. The initial weights of the points are proportional totheir intensity. After enough iterations (e.g., two iterations) areperformed to converge to a stable solution, the algorithm converges tothe answer represented by the red circle.

The iris finding algorithm shows tolerance to other edges detected bythe derivative operator, but corresponding to other structures in theimage (e.g., LASIK flap). If desired, to reduce the computation time,the original images can be smoothed with a Gaussian kernel andsub-sampled by a factor of four prior to a derivative computation.

In embodiments of the present invention, the boundary of the iris can belocalized with sub-pixel accuracy, but it might be slightly displacedfrom its true location if the shadows in the image soften the boundaryedge. However, the errors are fairly well balanced in all directionsfrom the center, so that the final result is very close to the actualcenter.

In the embodiments tested, the image scale for both the second image(e.g., laser image) and the first image (e.g., wavefront image) isestimated to be 52.3 pixels per millimeter, which is 19.1 μm per pixel.An error of one pixel in the boundary estimation on one side of the iriswould result in about 10 μm error in the estimate of the iris center.Given the current precision of conventional eye trackers (about 50 μm )and the range of pupil center shift (up to 1000 μm), the errors of a fewpixels in the iris boundary would still be within the acceptableaccuracy for the ablation centering.

Next, after the pupil center (and/or iris center) are located, a widthof the iris ring can be extracted from the images. (Step 84). The iriscan be treated as an elastic sheet stretched between pupil and the outerrim of the iris. In embodiments that do not use the iris findingalgorithm, the width of the iris band can be set to 76 pixels for imagesof dark-colored eyes, and 104 pixels for the light-colored eyes. Itshould be appreciated, however, that other width estimations can beused. The radius of the iris in the reference images of FIGS. 6A and 6Bwere estimated to be 320 pixels and assumed to be roughly constant forall people.

As shown in FIG. 7A, the iris ring can then be unwrapped and dividedinto a fixed number of sectors, by converting the Cartesian iriscoordinates into polar coordinates, centered at the pupil. (Step 86). Inalternative embodiments, it may be possible to analyze the iris ringwithout unwrapping it. However, Applicant has found that unwrapping andscaling the iris ring allows better matching of texture blocks betweendifferent images of the eye by means of pure translation. For example,as shown in FIG. 7C and 7D, if the iris ring is not unwrapped, thesoftware may have trouble matching of texture blocks that have rotated(FIG. 7C), whereas if the iris ring is unwrapped, the texture blockshave the same relative shape (FIG. 7D).

In some embodiments, the iris ring can be sampled at one-pixel steps inthe radial direction for the reference image. Optionally, to reducealiasing, the images can be smoothed with σ=1 pixel Gaussian kernel.

Optionally, the dynamic range of pixel values in the iris may beadjusted to remove outliers due to reflections from the illumination LEDlights. The pixel value histogram can be thresholded so that all thepixels with values above the threshold are assigned the value of thethreshold. Also, some band-pass filtering may be applied to the irisbands prior to region selection to remove lighting variation artifacts.

After the iris is divided into sectors, one salient region or marker ineach sector in image can be located and its properties can be extracted.(Steps 88, 90). In one embodiment, the iris region is segmented intotwenty four sectors of fifteen degrees. It should be appreciated,however, that in other embodiments, the iris region can be segmentedinto more than twenty four sectors or less than twenty four sectors.

The markers in the reference image can be stored and later located inthe second image of the eye so as to estimate the torsional displacementof the eye between the two images. One embodiment of a method oflocating the markers is described more fully in Groen, E., “Chapter 1 onVideo-oculography,” PhD Thesis, University of Utrecht (1997), thecomplete disclosure of which is incorporated herein by reference.

The markers should be sufficiently distinct and have high contrast.There are several possible ways to select such points. In oneimplementation, a square mask of size M×M (for example, 21×21 fordark-colored eyes and 31×31 for light-colored eyes) is defined. The maskcan be scanned over each of the twenty four sectors, and for each pixelin each sector a value is computed from the region inside the maskcentered at that pixel. The value assigned to the pixel is determined asthe sum of amplitudes of all spatial frequencies present in the region.In one embodiment, the sum of the amplitudes can be computed by aFourier transform of the region. If desired, the central 5×5 portion ofthe Fourier spectrum can be nulled to remove a DC component. The maximumvalue can then be located in each sector, such that the boundary of itscorresponding mask is at least 5 pixels away from the iris imageboundary in order to avoid getting close to the pupil margin and otherboundary artifacts, such as the eyelid and eyelashes. The “winning”positions and the corresponding blocks are stored for later comparison.

It should be appreciated, however, that there are alternative methodsfor evaluation of block/marker texture strength. For example thefollowing matrix can be applied. If Gx is the derivative of the blockintensity in the x-direction, and Gy is the derivative of the blockintensity in the y-direction, then:

$Z = \begin{bmatrix}{\sum{Gx}^{2}} & {\sum{GxGy}} \\{\sum{GxGy}} & {\sum{Gy}^{2}}\end{bmatrix}$

And let λ₁, λ₂ be the eigenvalues of the matrix of Z, with λ₂ being thesmaller one, then λ₂ is the texture strength of the block.

The second image of the eye can also be obtained. (Step 92; FIG. 6B). Inexemplary embodiments, the second image is obtained with a lasersurgical system's microscope camera prior to delivering the ablativeenergy to the patient. In one configuration, the laser camera has aresolution of 680×460 pixels using 256 grayscale levels. Themagnification of the laser camera in relation to the reference camerafrom the CCD camera was estimated to be 0.885. The eye can beilluminated by a set of infrared LED lights having a wavelength of 880nm. It should be appreciated, however, that many other imaging devicescan be used to obtain different image types, including images that donot require a magnification, images of different resolution, and imagesthat are illuminated by other light wavelengths.

The sectors in the second image are located and the salient regions thatcorrespond to the salient regions in the reference image are located.(Step 94; FIG. 7B). For each sector in the second image, a best matchingregion is located. Optionally, the search is constrained to the matchingsector and the two adjacent sectors in the second image, thus limitingpossible matches to within 15 degrees, which is a reasonable biologicallimit for ocular cyclo-rotation. It should be appreciated however, inother embodiments, the range of limiting the possible match may belarger or smaller than 15 degrees.

The match between the marker in the reference image and the marker inthe second image is evaluated as the sum of absolute errors (after bothblocks are made to have zero mean value) for each corresponding regioncentered at a given pixel. As shown in FIGS. 8A and 8B, due to presenceof LED reflections on the iris, some portions of the iris may lose itstexture in the second image. In some embodiments, these areas 95 can bedetected by histogram analysis similar to pupil detection and can beexcluded from matching. The points with the smallest error can then beselected as the matching markers for each marker in the reference image.

Alternatively, instead of using the sum of absolute errors to match themarkers, a dot product of the mean-subtracted reference and the secondimage patches can be calculated, where:

$L = {\sum\limits_{i}{\left( {I_{i} - \overset{\_}{I}} \right)\left( {J_{i} - \overset{\_}{J}} \right)}}$in which the higher the “L”, the better the match between the markers.

Once the corresponding salient regions/markers are located in the secondimage, an angular displacement for each marker is calculated to estimatea total torsional angle of the eye between the first, reference imageand the second image. (Step 96; FIG. 9).

Under ideal circumstances, the displacement of each marker would beidentical and equal to the torsional angle. However, there are severaldistortions that make the problem of estimating the true torsional anglemore complex. First, the center of the pupil may not be estimatedcorrectly. This introduces a sinusoidal distribution of displacementangles around the true torsional angle. The amplitude of the sinusoid isusually quite small. Second, the actual shape of the pupil is oftenelliptical and not round. This can introduce a sinusoidal distortionwith twice the period of the center of the pupil distortion due to themethod of measurement of the landmarks with respect to the circularpupil. Indeed, points further away from the pupil center will be spacedcloser to each other after the iris is unwrapped, and points closer tothe pupil center would end up being spaced more widely. Finally, somecorresponding markers may make false matches; such markers can betreated as outliers. Consequently, to account for such distortions, inone embodiment the estimated angles can be fitted with a number ofdifferent functions using an iterative weighted estimation as follows:F1=TA1F2=TA2+A1*sin(θ)+B1*cos(θ)where TAs are the estimates of the true torsional angle and θ is theangular coordinate of the markers. Application of the functions to thetorsional angle data can thereafter provide an estimate for thetorsional angle θ₀ between the reference image and the second image.

The initial torsional angle, θ₀, computed by the alignment algorithm(between the iris image 56 taken with pupil camera 13 and the initialvideo frame 66 from imaging device 20) can be added to every subsequentframe for tracking of the torsional orientation of the patient's eye.The total torsional orientation θ_(total) (t) of the patient's eye inthe laser image can be described as follows:θ_(total)(t)=θ₀+θ(t)where θ(t) is the measured torsional angle between the eye in theinitial frame of the video stream and the eye in the n^(th) frame attime t.

While the alignment algorithm that calculates θ₀ does not have toproduce results in real time, a tracking algorithm that tracks thetorsional rotation θ(t) of the eye should work at frame rate, whichdemands quick, efficient and accurate computations. In one embodiment,the high speed eye tracker (HSET) of the laser surgical system can beused to keep track of the translation of the pupil the x, y, and zdirections. Having the position of the pupil readily available requiresonly that the torsional tracker estimate the positions of the irislandmarks with respect to the center of the pupil.

The iris can undergo rigid translations (e.g., movement in the x, y, andz directions), rotations, as well as some non-rigid affinetransformations of scaling and shearing. While the torsional angle isnot affected by the non-rigid transformations, it is preferable that thenon-rigid transformations be taken into account in order to ensureaccurate feature matching from frame to frame. In one method, the mainideas is that given image I₀, a feature portion of a frame at time t=0,and image I_(n), part of frame at time t=n, one can determine theoptimal set of parameters A and d, such that:I _(n)(Ax+d)=I ₀(x)where A=1+D, where D is a deformation matrix and d is the translation ofthe feature window. Such an approach is described in computer visionliterature such as Lucas B. D. and Kanade, T. “An Iterative ImageRegistration Technique and Application to Stereo Vision” ILCAI (1981),Shi, J. and Tomasi, C. “Good Features to Track,” IEEE Conference onComputer Vision and Pattern Recognition 1994, and Hager, G. D. andToyama, K. “X-Vision: A portable Substrate for Real-Time VisionApplications,” Computer Vision and Image Understanding 1996, thecomplete disclosures of which are incorporated herein by reference.Parameters of deformation and translation are determined byNewton-Raphson minimization procedure which can produce accurateresults.

Since the types of transformation that occur during laser eye surgeryare primarily translation (x, y, z) and torsional rotation about theoptical axis of the eye, these parameters can be estimated and theremaining scale and shear parameters are refined afterwards. Such aprocedure has been found to be robust in recovering the actual motionand avoids excessive deformations that might mimic the observed data.

FIG. 10 schematically illustrates a simplified method of tracking thetorsional rotation of the patient's eye during the surgical procedure.First, the pupil and iris are located in both the first frame and n^(th)frame of the video stream. (Step 100). Reference points can be locatedin the first frame and the corresponding reference points can be locatedin the n^(th) frame of the video stream. (Step 102). The angular offsetbetween the reference points in the two images can then be calculated toestimate the torsional rotation of the eye. (Step 104). The steps can berepeated for each of frames of the video stream until the ablationprocedure is completed. (Step 105).

FIG. 11 is an example of a first frame 106 from the video stream of theeye taken prior to the laser ablation. A pupil 108 has been located (asnoted by circular outline 110 image around the circumference of thepupil), and two reference loci or points 112, 114 are selected fortorsional tracking. Generally, reference points 112, 114 are a subset ofthe points chosen for registration (described above). The points 112,114 can be chosen automatically by the software of the present inventionbased on its texture strength, and positioning relative to the pupil(e.g., 8 o'clock position and 2 o'clock position). In alternativeembodiments, however, it may be possible to independently select points112, 114 separate from the original markers using the same techniquedescribed above or to manually select or draw the reference points 112,114 on the patient's iris.

The process of selecting points for tracking can be automatic orsurgeon-assisted. The automatic process can select one point on theright of the pupil and one on the left based on which reference block inthe corresponding neighborhood has best block-match score and alsoincluded in the estimate of the alignment angle, i.e. not an outlier. Ifthe texture of the iris has very low contrast or does not havedistinctive components, it may be necessary to introduce artificiallandmarks. Such landmarks can be drawn on the eye by the surgeon, sothat the algorithm would track their spatial displacements instead ofdisplacements of the patches of iris texture.

One exemplary selection algorithm selects a subset of blocks that arenot outliers. From this subset, blocks are removed that are in thepositional domain of possible reflections. These positions are known dueto specific placement of LEDs on the laser. The texture of the remainingblocks from the laser image may be quantified by the second largesteigenvector λ₂. Two blocks, roughly on the opposite sides of the pupilare chosen, such that they have the largest λ₂ in the group. In oneembodiment, the “left block” is selected from the valid blocks centeredaround the 8-o'clock position, and the “right block” is selected amongthe valid blocks centered at the 2-o'clock position. The coordinates ofthe centers of these blocks can be used to initialize tracking.

Once the blocks/loci 112, 114 have been selected in the first frame, foreach consecutive frame of the video feed, the blocks are located withina region of the iris that has the same position with respect to thepupil of the eye. The region is generally limited to approximately 15degrees, since the eye will generally not rotate more than such a range,and within such a time between each consecutive frame of the videostream, the torsional rotation will likely be much less than the 15degrees. As can be appreciated, in other embodiments, the range ofanalysis can be limited to a smaller or larger range, if desired.

The spatially corresponding regions of the first frame and the n^(th)frame can be compared for affine displacement, giving preference torigid transformations. In one embodiment, only horizontal and verticaldisplacements are reported by the tracking algorithm.

FIG. 12 illustrates six images of selected blocks 112, 114. Images 116,118 are images of blocks 112, 114 in reference image 66. Blocks 120, 122are the corresponding blocks from the new, real-time frame. Block images124, 126 are the best transformed block from the first frame that matchthe target block. From the change in the positional coordinates of theblocks 112, 114, a torsional angle between the first frame and thesecond frame can be computed. (FIG. 13).

One exemplary method of calculating the torsional angle between the twoselected block images in image frames of the video feed will now bedescribed. If B_(i) is the coordinate of the i^(th) block in thereference frame, X is the pupil center coordinate in the referenceframe, and X_(n) is the pupil center coordinate in the n^(th) frame,then the expected coordinates of the blocks in the n^(th) frame are:B _(in) =B _(i) −X +X _(n).

The expected pupil center coordinates of the blocks in both frames are:B _(i) =B _(i) −X

If D_(i) is the translation vector that aligns the i^(th) block contentsbetween the two frames, the correct block locations in the new frameare:B′ _(i) =B _(i) −D _(i)

The angular position of each block in the pupil centered reference frameis described by θ_(i)=tan⁻¹(B_(y)/B_(x)) and the total torsional anglebetween the n^(th) and the reference frame is:θ_(n)=mean_(i)(θ′_(i)−θ_(i))where θ′_(i) is the angular position of the block in the nth frame andθ_(i) is the angular position of the block in the reference (first)frame.

It should be noted that in FIGS. 11 and 13, the two frames are atdifferent levels of illumination, but the algorithm of the presentinvention is robust enough to overcome this difference. In general, ifpossible, t is preferred to maintain the same level and source ofbackground illumination in the range of camera sensitivity in order toachieve accurate tracking. Typically, the conditions during the lasereye surgery fall into this category and there are very few changes fromframe to frame.

As noted above, one part of the described embodiment of the trackingalgorithm is to estimate the motion parameters of a given block ormarker. If I is the block in the original frame and J is the spatiallycorresponding block in a subsequent frame, let x be the pixelcoordinates in these blocks. To estimate an affine transformation matrixA and translation vector D, the following equation can be minimized:

${O\left( {A,D} \right)} = {\sum\limits_{x}\left( {{I\left( {{Ax} + D} \right)} - {J(x)}} \right)^{2}}$

Matrix A can be decomposed into a rotation component and a scale/shearcomponent as follows:

$A = {\begin{bmatrix}0 & \alpha \\{- \alpha} & 0\end{bmatrix} + \begin{bmatrix}{sx} & \gamma \\0 & {sy}\end{bmatrix}}$

By estimating the rotation component of the matrix A and thetranslational vector D, the number of parameters can be reduced from 6to 3. This approach clarifies between several possible solutions towardsthe one that has only rigid motion. While scaling and shear may occur asa result of pupil size change, their contribution to motion should bevery small.

A linear system for computing rigid motion parameters is:

${\sum\limits_{x}{\begin{bmatrix}{GxGx} & {GxGy} & {GxGr} \\{GyGx} & {GyGy} & {GyGr} \\{GrGx} & {GrGy} & {GrGr}\end{bmatrix}*\begin{bmatrix}D \\\alpha\end{bmatrix}}} = {\sum\limits_{x}\begin{bmatrix}{Ho} & {Gx} \\{Ho} & {Gy} \\{Ho} & {Gr}\end{bmatrix}}$ where${{Gx}(x)} = {\frac{\partial}{\partial x}{I(x)}*{w(x)}}$${{Gy}(x)} = {\frac{\partial}{\partial y}{I(x)}*{w(x)}}$${{Gr}(x)} = {\left( {{y\frac{\partial}{\partial x}{I(x)}} - {x\frac{\partial}{\partial y}{I(x)}}} \right)*{w(x)}}$Gx(x) = (I(x) − J(x)) * w(x)where w(x) is an optional weighting functions. Because the equationsabove are approximations, iterative Newton-Raphson minimization can beused to solve the system.Experimental Registration Results:

Experimental results for the alignment algorithm which registers thereference image of the patient's eyes with the second image of thepatient's eye was obtained using Matlab software. The accuracy of thefit was determined by several factors: (1) the number of point used inthe fit (at least half (12) of the reference points had to be used), and(2) the RMS error of the fit (1 degree was the highest RMS errorallowed); and (3) a visual inspection of the matching reference pointsand the measurements taken with protractor were used to confirm theestimate. The original set of experiments was conducted with the lasercamera magnification factor of 0.885. All the images of dark-coloredeyes gave accurate predictions of the torsion angle by at least one ofthe methods. However, the light-colored eye did not have sufficienttexture at that magnification to have a reliable torsion angle estimate.

In a second hardware configuration, the magnification factor of thelaser's camera was adjusted to match that of the imaging device of thewavefront measurement device, thus eliminating scaling issues. Also, asthe resolution of the laser camera increased due to larger magnificationfactor, more details became visible on the light-colored irises. Sixteeneyes (from six people) were photographed with the a CCD of the VISXWaveScan™ camera, while subjects were in the sitting position and withthe laser's camera, while subjects were laying down in the surgicalchair. The torsional angle was estimated between the two photographs ofthe same eye of the same subject. FIG. 14 is a torsional angle estimatefor two different dark-colored iris eyes. FIG. 15 is a torsional angleestimate for two different light-colored iris.

The estimates in FIG. 14 are all within ½ degree form each other and theone providing the best fit is the sinusoidal fit with 17 points used andRMS=0.21. In FIG. 15 the estimates are less similar, but the bestestimate is again a sinusoidal fit with 13 points and RMS=0.18 thatcaptures the correct match points.

The line fit criteria is not explicitly evaluated, since it can bethought of as a sinusoidal fit of zero-amplitude. This is simply aresult of having 3 parameters in the sinusoidal fit (mean, amplitude andphase) versus one parameter for the line (mean). Therefore, any line fitquality would be worse then the sinusoidal estimates, even if itcaptures the nature of the data. As mentioned earlier, the line fitestimate of the torsion angle is usually close to the value reported bysinusoidal or possibly a double sinusoidal fit. FIG. 16A and 16Bsummarize the results for the data set processed by the algorithm.

While not required, it is desirable that while capturing the referenceimage with imaging device 13, the following points should be considered.First, a majority of the iris should be visible so that a minimum widthof the iris ring is more then 80 pixels. Second, the focus of the camerashould be adjusted so that most of the iris is in focus providing thehighest possible texture resolution of the iris ring. Several images canbe taken to ensure good quality. Third, images with strong shadows andreflections on the iris should be rejected in order to avoid strongfalse markers. Finally, images should be saved into a file of type BMPor TIF. Optionally, image names should contain unique name of thesubject, left or right indicator for the eye and the ID of the devicefrom which they come (e.g., laser image or wavefront image).

While capturing the laser image the same reference points should beconsidered. As such, the illumination when obtaining the wavefront imageshould be the same when obtaining the image with the laser camera.Applicants have found that dark-colored eyes have more rich textureunder the infrared illumination and light-colored eyes have more richtexture under visible light. The striated trabecular meshwork of elasticpectinate ligament (anterior layer) creates a predominant texture undervisible light. For the near infrared light, deeper slower modulatedstromal features dominate the iris pattern. See for example Daugman, J.“High confidence visual recognition of persons by a test of statisticalindependence,” IEEE Transactions of Pattern Analysis and MachineIntelligence, vol. 15(11), pp 1148–1161 (1993).

Image quality may also be degraded by LED reflections. However, becauseillumination is required, it may be unavoidable to have several LEDreflections on the iris. These features can be handled by the algorithmas described above. These reflections, however, can greatly degrade theimage quality. As shown in FIG. 17A, the shadow makes it impossible todiscern any texture of the right side of the iris. As a result, as shownin the FIG. 17B, the alignment data obtained from the image in FIG. 17Awas rejected due to the large RMS factor (i.e., above 1). Therefore, thealignment algorithm of the present invention can have an internalquality of fit check that automatically rejects bad data.

In order to make the alignment system work under real surgicalconditions, the system should be robust to noise and distortionsintroduced by cutting and lifting of the LASIK flap, dried surface ofthe cornea and other factors. In order to achieve this robustness, threeadditional steps can be added to the alignment algorithm. A first stepwas to mark the expected position of the LASIK flap as an invalidregion, preventing the algorithm from selecting reference blocks in thatarea of the iris. A second step is to apply band-pass filtering to theunwrapped iris images. The convolution kernel was set to be thedifference of 2-D Gaussian distributions with standard deviations equalto 3 and 12 pixels. A third step was the introduction of bi-directionalalignment, when the blocks were selected and matched from the wavefrontdevice to the laser and from the laser to the wavefront device. Thisessentially doubled the number of data points used for sinusoidalfitting.

Another difference in the matching was implemented as a special case forLASIK procedures. Instead of using LSE metric for block matching, anormalized correlation was used as a match criteria. This method wasfound to be more appropriate given different contrast levels of thewavefront image and the laser image of the eye with its flap lifted.

Experimental Torsional Tracking Results

To test the torsional tracking algorithm, the algorithm was run throughseveral tests. The first set of results using the methods and softwareof the present invention to track the torsional movement of thepatient's eye involved artificial rotation of an image of a video framefrom the laser surgical system's camera 20. The image was rotated by 1degree counter-clockwise for each subsequent frame. A total of 15rotated frames were analyzed by the torsional tracking algorithm. Theoriginal frame and final frame are illustrated in FIGS. 18A and 18B,respectively. Application of the torsional tracking algorithm wereaccurate for every frame to a precision of within 0.2 degrees from itsactual value.

The second set of results comes from a 500-frame sequence capturing 25seconds of real video of an eye. Several variables were tracked duringthe video processing: pupil center position, pupil radius, torsionalangle, and error estimates for the two blocks tracked for each frame.The sequence was also visually inspected to verify the black match andthe overall eye torsion. The zero^(th) frame (FIG. 19A) was used as areference with two 31×31 pixel blocks marked for tracking. The lastframe shows the same blocks at the appropriate locations. (FIG. 19B).FIGS. 20–23 show the data extracted from the video sequence. FIG. 20shows the pupil position over time. FIG. 21 shows the change of thepupil radius from frame 0 to 500. FIG. 22 illustrates errors perframe/block. FIGS. 23 shows the torsional angle of the markers (relativeto the first frame of the video).

The algorithm was tested to see the effect of the delay between theblock selection and tracking initialization. This was accomplished byskipping the first 344 frames of the video sequence. FIG. 24 depicts thetracking results for the 30-frame sequence starting with the 345^(th)frame. The data shows that the algorithm jumped to correct position andcorrectly tracked the blocks throughout the video sequence to within ¼degree precision compared to the original torsional data. Skipping videoframes is often required to give time to the torsional alignmentalgorithm to establish the rotational angle between the reference imageand the second image (e.g., first frame of the video sequence).

A third set of data was obtained by reducing the frame rate by a factorof two. FIG. 25 shows the torsional data extracted from the sloweracquired sequence. Such data still matches the measurement extractedfrom the normal frame rate sequence illustrated in FIG. 23.

In order to test the accuracy of the torsional alignment (e.g.,registration of the reference image with the first image of the videostream) and torsional tracking together, as well as the algorithm'sability to automatically select the blocks of texture in the referenceimage to track, the following test was performed. A video sequence ofseveral hundred frames was captured under the laser with the torsionalcamera. Several seconds prior to the video sequence acquisition, asnapshot of the eye was taken through the laser camera. The iris imageobtained from the wavefront measurement camera was aligned andregistered with the snapshot image and the first frame of the videosequence. The alignment results using the “sine-method” between thewavefront measurement position of the iris and the first image of thevideo sequence was 0.04 degrees counterclockwise. (FIG. 26A). Alignmentto the snapshot image was 0.80 degrees clockwise. (FIG. 26B).

The torsional tracking algorithm was engaged using the two images(snapshot and wavefront image) as a reference. The measurement of thetorsional eye movements with respect to the reference image is depictedin FIGS. 27A and 27B. Estimated torsional angle reference to the firstimage of the video sequence (FIG. 27A) closely resembled the onereferenced to the snapshot (FIG. 27B), with the exception of theconstant offset of about 0.5 degrees counterclockwise. The total angleof rotation with respect to the wavefront image is computed as follows:θ_(total)(t)=Tracking[(reference image, video](t)+Alignment[Wavefrontreference image]

Therefore, for the above example,θ_(first video image)−0.04=θ_(snapshot)+0.80, where the alignment anglehas a sign notation of clockwise being positive. The difference betweenthe two estimates is shown in FIG. 28.

From the data, it can be estimated that the mean of the difference,μ=0.4 degrees, and the standard deviation, σ=0.12 degrees. All of theerror values for every video frame are less than one degree inmagnitude. The mean shows the difference in the total alignment angleand its value is less than 1 degree, which is the specified tolerancefor this one exemplary embodiment. It should be appreciated however,that other embodiments may have a tolerance that is more than 1 degreeor less than 1 degree.

The standard deviation shows that tracking different texture patchesfrom different images has very small effect on the total torsional angleestimates. FIGS. 29A and 29B show two different torsional angleestimates that include the alignment with the wavefront measurementimage. The reference frames for the two estimates were 0.41 degreesclockwise 134 (FIG. 29A) and 1.17 degrees clockwise 136 (FIG. 29A). Theerrors between the estimates are shown in FIG. 29B as a function of theframe number. As in previous tests, the errors do not exceed 1 degreefor any frame.

It should be appreciated by a person of ordinary skill in the art thatthe above alignment and tracking algorithms are merely examples of somealgorithms that can be used to align the images of the eyes and trackthe torsional rotation of the patient's eye, and other algorithms, usingdifferent methodologies can be used without departing from the spirit ofthe present invention.

While all the above is a complete description of the preferredembodiments of the inventions, various alternatives, modifications, andequivalents may be used. For example, while the above description hasbeen described in the context of laser eye surgery, the above conceptsmay be useful in tracking the position and orientation of an eye for usein identification systems. Although the foregoing invention has beendescribed in detail for purposes of clarity of understanding, it will beobvious that certain modifications may be practiced within the scope ofthe appended claims.

1. A laser surgery system for treatment of an eye having an iris with aniris pattern between a pupil and an outer iris boundary, the systemcomprising: a computer processor configured to receive a first image ofthe eye from an imaging assembly of a measurement system, and anassociated ablation pattern for the eye, the processor including: an eyetracker that tracks a position of the eye under an optical axis of alaser beam; and a torsional tracker that tracks a torsional orientationof the eye; and an imaging device for obtaining a second image of theeye while the eye is positioned for treatment with the laser beam, thesecond imaging device coupled to the torsional tracker; wherein thecomputer processor is configured to: register the ablation pattern withthe eye by determining a translation between the first image of the eyeand the second image of the eye with reference to the outer irisboundary of the eye, and by determining a torsional rotation between thefirst image of the eye and the second image of the eye with reference tothe iris pattern of the eye; and adjust a delivery of the ablationpattern based on a change of position and/or torsional orientation ofthe eye during treatment of the eye with the laser beam.
 2. The systemof claim 1 wherein the computer processor is configured to register thefirst image with a real-time image of the eye under the optical axis ofthe laser beam, the imaging device transmitting the real-time image. 3.The system of claim 1 further comprising a laser coupled to the computerprocessor and configured to deliver the ablation pattern to the eye. 4.The system of claim 1 further comprising a wavefront measuring devicethat obtains the wavefront measurement, the measurement systemcomprising the wavefront measurement device.
 5. The system of claim 1,wherein the computer processor is configured to, when registering theablation pattern with the eye, accommodate changes in size of the pupilinduced by a difference in illumination of the eye between the firstimage and the second image.
 6. The system of claim 5, wherein thecomputer processor is configured to accommodate the changes in size ofthe pupil during determination of the torsional rotation by scaling theiris pattern in response to a width of the iris between the pupil andthe outer iris boundary.
 7. The system of claim 5, wherein the outeriris boundary of the first image of the eye corresponds in size with theouter iris boundary of the second image of the eye despite thedifference in illumination of the eye.
 8. The system of claim 1, whereinthe computer processor is configured to identify a circumferentiallydistributed plurality of discrete markers in the pattern of the iris,and wherein the computer processor is configured to determine thetorsional rotation between the first image of the eye and the secondimage of the eye with reference to the discrete markers.
 9. The systemof claim 8, wherein the computer processor is configured to identify thediscrete markers by identifying a discrete marker corresponding to eachof a circumferential series of regions of the iris.
 10. The system ofclaim 8, wherein the torsional tracker determines the torsionalorientation of the eye with reference to a subset of the markers.
 11. Asystem for use on an eye having an iris with an iris pattern between apupil and an outer iris boundary, the system comprising: a first imagingassembly configured to acquire a first image of the eye under a firstillumination, the eye in the first image having a first pupil size; asecond imaging assembly configured to acquire a second image of the eyeunder a second illumination, the eye in the second image having a secondpupil size; a computer processor in communication with the first imagingassembly and the second imaging assembly so as to receive the firstimage of the eye and the second image of the eye, the computer processorconfigured to register the first and second images of the by determininga translation between the first image of the eye and the second image ofthe eye with reference to the outer iris boundary of the eye, and bydetermining a torsional rotation between the first image of the eye andthe second image of the eye with reference to the iris pattern of theeye.
 12. The system of claim 11 wherein the computer processor isfurther configured to register the first image with a real-time image ofthe eye so as to allow adjustment while a treatment is directed towardthe eye, the second imaging assembly transmitting the real-time image.13. The system of claim 11 further comprising a laser coupled to thecomputer processor and configured to deliver an ablation pattern oflaser energy to the eye.
 14. The system of claim 11 further comprising awavefront measuring device that obtains a wavefront measurement, thewavefront measurement device being coupled to the first imaging deviceso that the pattern of laser energy is associated with the first imageof the eye.
 15. The system of claim 11, wherein the computer processoris configured to, when registering the ablation pattern with the eye,accommodate changes in size of the pupil induced by a difference betweenthe first illumination and the second illumination.
 16. The system ofclaim 15, wherein the computer processor is configured to accommodatethe changes in size of the pupil during determination of the torsionalrotation by scaling the iris pattern in response to a width of the irisbetween the pupil and the outer iris boundary.
 17. The system of claim15, wherein the outer iris boundary of the first image of the eyecorresponds in size with the outer iris boundary of the second image ofthe eye despite the difference in illumination of the eye.
 18. Thesystem of claim 11, wherein the computer processor is configured toidentify a circumferentially distributed plurality of discrete markersin the pattern of the iris, and wherein the computer processor isconfigured to determine the torsional rotation between the first imageof the eye and the second image of the eye with reference to thediscrete markers.
 19. The system of claim 18, wherein the computerprocessor is configured to identify the discrete markers by identifyinga discrete marker corresponding to each of a circumferential series ofregions of the iris.
 20. The system of claim 18, further comprising atorsional tracker configured to determine a torsional orientation of theeye in real-time with reference to a subset of the markers.